CN116570378B - Slave end operating device for vascular intervention operation - Google Patents
Slave end operating device for vascular intervention operation Download PDFInfo
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- CN116570378B CN116570378B CN202310650198.7A CN202310650198A CN116570378B CN 116570378 B CN116570378 B CN 116570378B CN 202310650198 A CN202310650198 A CN 202310650198A CN 116570378 B CN116570378 B CN 116570378B
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- catheter
- roller
- guide wire
- operation assembly
- clamping
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- 230000002792 vascular Effects 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 125
- 230000006835 compression Effects 0.000 claims description 46
- 238000007906 compression Methods 0.000 claims description 46
- 210000001503 joint Anatomy 0.000 claims description 22
- 229920002379 silicone rubber Polymers 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000003756 stirring Methods 0.000 claims description 6
- 229920001971 elastomer Polymers 0.000 claims description 4
- 239000004945 silicone rubber Substances 0.000 claims description 4
- 239000012636 effector Substances 0.000 claims 6
- 238000013152 interventional procedure Methods 0.000 claims 1
- 210000005077 saccule Anatomy 0.000 description 4
- 210000004204 blood vessel Anatomy 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention relates to a slave end operation device for vascular intervention operation, which comprises a power driving device, a guide wire operation assembly, a balloon catheter conveying device, a catheter operation assembly and a mounting box, wherein the guide wire operation assembly and the balloon catheter conveying device are assembled in the mounting box and are combined with the mounting box into a whole, the guide wire operation assembly is used for synchronously realizing the advancing, withdrawing and rotating of a guide wire, the balloon catheter conveying device is used for realizing the advancing and withdrawing of a balloon, the catheter operation assembly is used for realizing the advancing, withdrawing and rotating of a guide catheter, and the guide wire operation assembly, the balloon catheter conveying device, the catheter operation assembly and the mounting box are all carried on the power driving device and are respectively connected with a power output end of the power driving device; the invention can convey precise instruments such as a guide wire, a catheter, a balloon and the like to a designated position in vascular intervention operation, realize automatic conveying control of the guide wire, the catheter and the balloon, reduce operation of doctors and meet clinical use requirements of vascular intervention operation.
Description
Technical Field
The invention relates to the technical field of vascular intervention operation, in particular to a slave end operation device for vascular intervention operation.
Background
In recent years, vascular interventional operations have rapidly developed due to the advantages of small trauma, rapid recovery, safety and the like, and become a main treatment mode of cardiovascular diseases. The vascular intervention operation is that a doctor manually sends vascular instruments such as a catheter, a guide wire, a balloon and the like to a designated position of a human body by means of real-time dynamic medical images, and diagnoses and accurately treats a focus.
Traditional vascular intervention procedures can expose doctors to X-ray environment for a long time, and the weight of the overlong lead clothes can cause great damage to the body in spite of the protection of the lead clothes. The blood vessel intervention uses small and precise instruments, and although the instruments are guided by images, the individual differences of patients (such as the stenosis degree and the lesion degree of blood vessels) have high requirements on the operation experience of doctors. Therefore, research on vascular intervention auxiliary systems is being conducted at home and abroad to solve the defects of the traditional vascular intervention operation.
Disclosure of Invention
The invention aims to solve the defects and provide a slave end operation device for vascular intervention operation, which can convey precise instruments such as a guide wire, a catheter, a balloon and the like to a designated position in the vascular intervention operation, realize automatic conveying control of the guide wire, the catheter and the balloon (stent), reduce doctor operation and meet clinical use requirements of the vascular intervention operation.
The utility model provides a from end operation device for vascular intervention operation is designed in order to realize above-mentioned purpose, includes power drive 1, seal wire operating unit 2, sacculus pipe conveyor 3, pipe operating unit 4 and mounting box 5, seal wire operating unit 2 and sacculus pipe conveyor 3 all assemble in mounting box 5 to merge as an organic wholely with mounting box 5, seal wire operating unit 2 is used for realizing the advancing, withdrawing and the rotation of seal wire in step, sacculus pipe conveyor 3 is used for realizing the advancing and withdrawing of sacculus, pipe operating unit 4 is used for realizing guiding pipe to advance, retreat and rotate, seal wire operating unit 2, sacculus pipe conveyor 3, pipe operating unit 4 and mounting box 5 all carry on power drive 1 to link to each other with the power take off end of power drive 1 respectively.
Further, the power driving device 1 comprises a platform 1-1, a cylindrical supporting seat 1-2, a bearing 1-3, a butt joint piece 1-4, a power rotating shaft 1-5, a pair of bevel gears 1-6 and an L-shaped supporting seat 1-7; the device comprises a platform 1-1, a guide wire operation assembly 2, a balloon catheter conveying device 3, a catheter operation assembly 4 and a mounting box 5, wherein the platform 1-1 is provided with a positioning column for mounting and positioning the guide wire operation assembly 2, the balloon catheter conveying device 3, the catheter operation assembly 4 and the mounting box 5; the device is characterized in that a driving mechanism is mounted on the L-shaped supporting seat 1-7, an output shaft of the driving mechanism drives the power rotating shaft 1-5 to rotate through a pair of bevel gears 1-6, a bearing 1-3 is mounted on the power rotating shaft 1-5, the bearing 1-3 is arranged in the cylindrical supporting seat 1-2, a butt joint piece 1-4 is mounted at the other end of the power rotating shaft 1-5, the butt joint piece 1-4 is connected with a driving connector 1-8, and the driving connector 1-8 is mounted inside the guide wire operation assembly 2, the balloon catheter conveying device 3, the catheter operation assembly 4 and the mounting box 5 in a distributed mode and used for power transmission.
Further, the driving connector 1-8 comprises a spring 1-8-1, a sleeve 1-8-2 and a bottom butt joint device 1-8-3, the bottom butt joint device 1-8-3 is connected with a butt joint piece 1-4 of the power driving device 1, the bottom butt joint device 1-8-3 and the spring 1-8-1 are arranged in the sleeve 1-8-2, the other end of the bottom butt joint device 1-8-3 is connected with a guide wire operation assembly 2, a balloon catheter conveying device 3, a catheter operation assembly 4 and an installation box 5, and power is transmitted to the guide wire operation assembly 2, the balloon catheter conveying device 3, the catheter operation assembly 4 and the installation box 5.
Further, the wire guiding operation assembly 2 comprises a wire feeding mechanism 2-1 and a rotating mechanism 2-2, the wire feeding mechanism 2-1 drives the wire guiding mechanism to move forwards or backwards, the rotating mechanism 2-2 comprises a conical gear 2-2-1 and a mounting seat 2-2, the conical gear 2-2-1 is mounted on the mounting seat 2-2, the input end of the conical gear 2-1 is connected with a power driving device 1 through a driving connector 1-8, and the output end of the conical gear 2-2-1 is connected with the wire feeding mechanism 2-1 and drives the wire feeding mechanism 2-1 to rotate around a shaft, so that the wire guiding mechanism clamped by the wire feeding mechanism 2-1 is driven to rotate.
Further, a special-shaped roller I2-1-1 and a special-shaped roller II 2-1-2 are arranged in the wire feeding mechanism 2-1, the wire guide passes through the wire feeding mechanism 2-1 and is clamped by the special-shaped roller I2-1-1 and the special-shaped roller II 2-1-2, the special-shaped roller I2-1-1 is a cylindrical roller, small rollers are uniformly distributed on the circumference of the special-shaped roller II 2-1-2, and the wire guide passes through the special-shaped roller I2-1-1 and the special-shaped roller II 2-1-2 to be in an arc clamping shape.
Further, the guide wire operation assembly 2 further comprises a clamping and fixing mechanism 2-3, the clamping and fixing mechanism 2-3 comprises a clamping roller 2-3-1, a compression spring 2-3-2 and a rotary buckle 2-3-3, the clamping roller 2-3-1 is provided with a pair, the clamping roller 2-3-1 is used for clamping a guide wire, the clamping roller 2-3-1 is separated under the stirring of the rotary buckle 2-3-3, and the rotary buckle 2-3-3 is reset through the elastic force of the compression spring 2-3-2, so that the pair of clamping rollers 2-3-1 cling to and clamp the guide wire.
Further, the balloon catheter conveying device 3 comprises an auxiliary driving roller 3-1, a main driving roller 3-2, a compression spring 3-3, a rotary moving mounting plate 3-4 and a gear 3-5, wherein the auxiliary driving roller 3-1 is separated from the main driving roller 3-2 under the stirring of the rotary moving mounting plate 3-4 so as to place the balloon at a gap between the auxiliary driving roller 3-1 and the main driving roller 3-2, the compression spring 3-3 is arranged on the auxiliary driving roller 3-1 and resets under the elasticity of the compression spring 3-3, the auxiliary driving roller 3-1 and the main driving roller 3-2 are equally divided into an upper part and a lower part, the upper part is a magnetic driving part, the lower part is wrapped by soft rubber and used for clamping the balloon, the main driving roller 3-2 is connected with a driving connector 1-8 through the gear 3-5, the driving connector 1-8 is connected with the power driving device 1, the main driving roller 3-2 is driven by the driving connector 1-8 to rotate around a shaft, and the main driving roller 3-2 drives the balloon to rotate around the driving roller 3-1 or withdraws in the opposite direction through the auxiliary driving component.
Further, the catheter operation assembly 4 comprises a catheter rotating mechanism 4-1 and a catheter conveying mechanism 4-2, wherein the catheter conveying mechanism 4-2 comprises a movable supporting shaft 4-2-1, a connecting plate 4-2-2, a clamping assembly 4-2-3, a movable rack 4-2-4, a movable compacting block 4-2-5 and a limiting plate 4-2-6; an operation button is arranged on one side of the movable rack 4-2-4, the movable rack is downwards moved by pressing the operation button, a reset spring is arranged on the other side of the movable rack 4-2-4, the movable rack 4-2-4 is in meshed connection with a special-shaped gear by virtue of the reset spring, a movable compression block 4-2-5 is connected to the special-shaped gear, a movable supporting shaft 4-2-1 is arranged between the movable compression block 4-2-5 and a limiting plate 4-2-6, the movable compression block 4-2-5 is separated from or tightly pressed against the movable supporting shaft 4-2-1 under the drive of the special-shaped gear, the front end of the movable supporting shaft 4-2-1 is connected with one end of a connecting plate 4-2-2, the other end of the connecting plate 4-2-2 is connected with a clamping component 4-2-3, a guiding catheter is clamped in the clamping component 4-2-3, and the guiding catheter penetrates into a catheter rotating mechanism 4-1 and rotates under the driving of the catheter rotating mechanism 4-1, and the clamping component 4-2-3 rotates relatively along with the catheter in the connecting plate 4-2-2; the catheter rotating mechanism 4-1 is connected with the mounting box 5, the mounting box 5 is mounted on the power driving device 1, and the power driving device 1 drives the mounting box 5 to advance or retract, so that the clamping assembly 4-2-3 and the guiding catheter move forwards or backwards together.
Further, the clamping assembly 4-2-3 comprises a knob cap 4-2-3-1, a silicon rubber compression block 4-2-3-2, a guide plate 4-2-3-3 and a rotary support shaft 4-2-3-4, wherein the silicon rubber compression block 4-2-3-2 and the guide plate 4-2-3-3 are arranged in the rotary support shaft 4-2-3-4, the rotary support shaft 4-2-3-4 is rotatably connected in the connecting plate 4-2-2, a guiding catheter is penetrated in the rotary support shaft 4-2-3-4, the knob cap 4-2-3-1 is rotatably arranged at the end part of the rotary support shaft 4-2-3-4, a notch I is formed in the inner wall of the knob cap 4-2-3-1, a notch II which is matched and connected with the notch I is formed in the outer wall of the end part of the rotary support shaft 4-2-3-4, and the silicon rubber compression block 4-2-2 is tightly compressed and wrapped by screwing down the guiding catheter in the knob cap 4-2-3-4-1; when the knob cap 4-2-3-1 is screwed to the level of the notch I on the knob cap and the notch II of the rotary support shaft 4-2-3-4, the silicon rubber compression block 4-2-3-2 is restored to the initial state through self deformation, and then is separated from the guiding catheter.
Further, the device further comprises a pressing mechanism 6, the pressing mechanism 6 comprises a limiting plate 6-1, a cam mechanism 6-2, a pressing plate 6-3 and a sliding shaft 6-4, the pressing mechanism in the installation box 5 is arranged at one end of the limiting plate 6-1, the other end of the limiting plate 6-1 is connected with a gear, the limiting plate 6-1 rotates around a shaft after being pressed downwards by the pressing mechanism, the other end of the limiting plate is separated from the gear, the gear is connected with teeth on the cam mechanism 6-2 in a meshed manner, a switch key is arranged on the gear on the cam mechanism (6-2) and rotates through screwing the switch key, the cam mechanism 6-2 is connected with the upper surface of the pressing plate 6-3 in a contact manner, the pressing plate 6-3 is connected to the sliding shafts 6-4 on two sides in a sliding manner, and the pressing plate 6-3 is ejected along the sliding shaft 6-4 under the driving of the cam mechanism 6-2 and stretches into the installation box 5 to be tightly attached to the bottom surface of the installation box 5; the first spring is arranged at the pressing plate 6-3, the first spring is self-reset to be separated from the mounting box 5, the second spring is arranged at the limiting plate 6-1, and the second spring is self-reset to an initial position to limit gear movement.
Compared with the prior art, the invention has the following advantages:
(1) The invention can realize automatic conveying control of the guide wire, the catheter and the saccule (bracket), assist doctors to finish accurate, stable and quick operation of precise instruments, reduce doctor operation and meet clinical use requirements of vascular interventional operation;
(2) The invention can control the advancing (withdrawing) and the rotation of the guide wire and the guide wire, and simultaneously can cooperate with the guide wire and the guide wire to simultaneously convey, thereby simplifying the operation and improving the efficiency;
(3) The invention can synchronously realize the rotation and the advance (withdrawal) of the guide wire, realize the advance (withdrawal) of the saccule (bracket) and synchronously realize the rotation and the advance of the guiding catheter;
(4) The invention solves the problem of slipping of the guide wire and the catheter, greatly reduces the requirement on transmission force, simultaneously realizes the operation of double guide wires, and more truly simulates the operation of doctors;
(5) The invention simplifies the structure of the guiding catheter operation assembly, is more beneficial to operation, and is simple and convenient to operate compared with the prior art.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the power driving apparatus of the present invention;
FIG. 3 is a schematic view of the drive connector of the present invention;
FIG. 4 is a schematic view of the structure of the guidewire handling assembly of the present invention;
FIG. 5 is a schematic view of the clamping mechanism of the present invention;
FIG. 6 is a schematic view of the balloon catheter delivery device of the present invention;
FIG. 7 is a schematic view of a portion of the catheter delivery mechanism of the present invention;
FIG. 8 is a schematic diagram of a portion of a catheter delivery mechanism of the present invention;
FIG. 9 is a schematic view of the structure of the clamping assembly of the present invention;
FIG. 10 is a schematic view of the structure of the hold-down mechanism of the present invention;
FIG. 11 is a schematic view of a wire feeder mechanism of the present invention;
in the figure: 1. the device comprises a power driving device 2, a guide wire operation assembly 3, a balloon catheter conveying device 4, a catheter operation assembly 5, a mounting box 6, a pressing mechanism 1-1, a platform 1-2, a cylindrical supporting seat 1-3, a bearing 1-4, a butt joint piece 1-5, a power rotating shaft 1-6, a pair of bevel gears 1-7, an L-shaped supporting seat 1-8, a driving connector 1-8-1, a spring 1-8-2, a sleeve 1-8-3, a bottom butt joint 2-1, a wire feeding mechanism 2-2, a rotating mechanism 2-3, a clamping and fixing mechanism 2-1-1, a special-shaped roller 1-2, a driving connector 1-8-1, a spring 1-8-2, a sleeve 1-8-3, a special-shaped roller 2-1-2 and a wire feeding mechanism the special-shaped roller 2-2-1, the bevel gear 2-2-1, the mounting seat 2-3-1, the clamping roller 2-3-2, the compression spring 2-3-3, the rotary buckle 3-1, the auxiliary driving roller 3-2, the main driving roller 3-3, the compression spring 3-4, the rotary movable mounting plate 3-5, the gear 4-1, the conduit rotating mechanism 4-2, the conduit conveying mechanism 4-2-1, the movable supporting shaft 4-2-2, the connecting plate 4-2-3, the clamping component 4-2-4, the movable rack 4-2-5, the movable compacting block 4-2-6, the limiting plate 4-2-3-1, the knob cap 4-2-3-2, the silicon rubber compression block 4-2-3-3, the guide plate 4-2-3-4, the rotary support shaft 6-1, the limit plate 6-2, the cam mechanism 6-3, the compression plate 6-4 and the sliding shaft.
Detailed Description
The invention provides a slave end operation device for vascular interventional operation, which comprises a power driving device 1, a guide wire operation assembly 2, a balloon catheter conveying device 3, a catheter operation assembly 4 and a mounting box 5, wherein the power driving device is shown in the figure 1; the guide wire operation assembly 2 and the balloon catheter conveying device 3 are assembled in the mounting box 5 and are combined with the mounting box 5 into a whole, so that the operation and the installation are convenient; the guide wire operation assembly 2 is used for synchronously realizing the advancing, withdrawing and rotating of the guide wire, the balloon catheter conveying device 3 is used for realizing the advancing and withdrawing of the balloon, the catheter operation assembly 4 is used for realizing the advancing, withdrawing and rotating of the guide catheter, and the guide wire operation assembly 2, the balloon catheter conveying device 3, the catheter operation assembly 4 and the mounting box 5 are all carried on the power driving device 1 and are respectively connected with the power output end of the power driving device 1. Wherein,
the power driving device 1 comprises a platform 1-1, a cylindrical supporting seat 1-2, a bearing 1-3, a butt joint piece 1-4, a power rotating shaft 1-5, a pair of bevel gears 1-6, an L-shaped supporting seat 1-7, standard components such as a clamp spring, a screw and the like, and is shown in the attached figure 2; the device comprises a platform 1-1, a guide wire operation assembly 2, a balloon catheter conveying device 3, a catheter operation assembly 4 and a mounting box 5, wherein a positioning column is arranged on the platform 1-1 and used for mounting and positioning the guide wire operation assembly 2, the balloon catheter conveying device 3, the catheter operation assembly 4 and the mounting box 5; the L-shaped supporting seat 1-7 is provided with a driving mechanism, an output shaft of the driving mechanism drives the power rotating shaft 1-5 to rotate through a pair of bevel gears 1-6, a bearing 1-3 is arranged on the power rotating shaft 1-5, the bearing 1-3 is arranged in the cylindrical supporting seat 1-2, the other end of the power rotating shaft 1-5 is provided with a butt joint piece 1-4, the butt joint piece 1-4 is connected with a driving connector 1-8, and the driving connector 1-8 is arranged in the guide wire operation assembly 2, the balloon catheter conveying device 3, the catheter operation assembly 4 and the installation box 5 in a distributed manner and is used for power transmission; the driving connector 1-8 comprises a spring 1-8-1, a sleeve 1-8-2 and a bottom butt joint 1-8-3, as shown in fig. 3, the bottom butt joint 1-8-3 is connected with a butt joint 1-4 of the power driving device 1, the bottom butt joint 1-8-3 and the spring 1-8-1 are arranged in the sleeve 1-8-2, the other end of the bottom butt joint 1-8-3 is connected with a guide wire operation assembly 2, a balloon catheter conveying device 3, a catheter operation assembly 4 and a mounting box 5, and power is transmitted to the guide wire operation assembly 2, the balloon catheter conveying device 3, the catheter operation assembly 4 and the mounting box 5.
The wire guide operation assembly 2 comprises a wire feeding mechanism 2-1, a rotating mechanism 2-2 and a clamping and fixing mechanism 2-3, wherein the wire feeding mechanism 2-1 comprises various gears, wire feeding rollers, a quick wire changing mechanism, a mounting plate and the like, and the wire feeding mechanism 2-1 drives the wire guide to advance or retreat; the rotating mechanism 2-2 comprises a conical gear 2-2-1 and a mounting seat 2-2, as shown in figure 4, the conical gear 2-2-1 is mounted on the mounting seat 2-2, the input end of the conical gear 2-2-1 is connected with the power driving device 1 through a driving connector 1-8, the output end of the conical gear 2-2-1 is connected with the wire feeding mechanism 2-1, and drives the wire feeding mechanism 2-1 to rotate around a shaft, so that a wire guide clamped by the wire feeding mechanism 2-1 is driven to rotate; the wire feeding mechanism 2-1 is internally provided with a special-shaped roller I2-1-1 and a special-shaped roller II 2-1-2, a guide wire passes through the wire feeding mechanism 2-1 and is clamped by the special-shaped roller I2-1-1 and the special-shaped roller II 2-1-2, the special-shaped roller I2-1-1 is a cylindrical roller, small rollers are uniformly distributed on the circumference of the special-shaped roller II 2-1-2, and the guide wire passes through the special-shaped roller I2-1-1 and the special-shaped roller II 2-1-2 to be in an arc clamping shape, as shown in an attached drawing 11; the clamping and fixing mechanism 2-3 comprises a clamping roller 2-3-1, a compression spring II 2-3-2 and a rotary buckle 2-3-3, wherein the clamping roller 2-3-1 is provided with a pair as shown in figure 5, the clamping roller 2-3-1 is used for clamping a guide wire, the clamping roller 2-3-1 is separated under the stirring of the rotary buckle 2-3-3, and the rotary buckle 2-3-3 is reset through the elastic force of the compression spring II 2-3-2, so that the pair of clamping rollers 2-3-1 cling to and clamp the guide wire. The number of the clamping rollers can be adjusted according to the specific structure and the use condition.
The balloon catheter conveying device 3 comprises an auxiliary driving roller 3-1, a main driving roller 3-2, a compression spring 3-3, a rotary moving mounting plate 3-4, a gear 3-5 and the like, as shown in fig. 6, the auxiliary driving roller 3-1 is separated from the main driving roller 3-2 under the stirring of the rotary moving mounting plate 3-4 so as to place a balloon at a gap between the auxiliary driving roller 3-1 and the main driving roller 3-2, the compression spring 3-3 is arranged on the auxiliary driving roller 3-1 and resets under the elasticity of the compression spring 3-3, the auxiliary driving roller 3-1 and the main driving roller 3-2 are equally divided into an upper part and a lower part, the upper part is a magnetic driving part, the lower part is wrapped by soft rubber so as to be used for clamping the balloon, the main driving roller 3-2 is connected with a driving connector 1-8 through the gear 3-5, the driving connector 1-8 is connected with the power driving device 1, the main driving roller 3-2 is driven by the driving connector 1-8 to rotate around a shaft, and the main driving roller 3-2 drives the auxiliary driving roller 3-1 to rotate in the opposite directions or withdraw the balloon through a magnetic driving part.
The catheter operation assembly 4 comprises a catheter rotation mechanism 4-1 and a catheter delivery mechanism 4-2, wherein the catheter rotation mechanism 4-1 is already embodied in other patents (patent application name: guiding catheter delivery and rotation driving device for vascular intervention operation) previously filed by the applicant, so that it is not described in the present patent, and it is obvious that the catheter rotation mechanism 4-1 can also adopt other structures capable of realizing the function, which are realized and known by those skilled in the art, and are not repeated; the catheter conveying mechanism 4-2 comprises a movable supporting shaft 4-2-1, a connecting plate 4-2-2, a clamping assembly 4-2-3, a movable rack 4-2-4, a movable compression block 4-2-5, a limiting plate 4-2-6, a button, a special-shaped cylindrical gear, a spring and the like, as shown in fig. 7 and 8, an operation button is arranged on one side of the movable rack 4-2-4, the movable rack is downwards moved by pressing the operation button, a reset spring is arranged on the other side of the movable rack 4-2-4, the movable rack 4-2-4 is meshed with the special-shaped gear, the movable compression block 4-2-5 is connected onto the special-shaped gear, the movable supporting shaft 4-2-1 is arranged between the movable compression block 4-2-5 and the limiting plate 4-2-6, the movable compression block 4-2-5 is separated from or compressed with the movable supporting shaft 4-2-1 under the drive of the special-shaped gear, the front end of the movable supporting shaft 4-2-1 is connected with one end of the connecting plate 4-2-2, the other end of the connecting plate 4-2-2 is connected with the clamping assembly 4-2, the other end of the connecting plate 4-2-4-2 is connected with the clamping assembly 4-2-4 and the clamping assembly 4-2-4-2-4 and the rotating along with the rotating mechanism 4-2-4-2-4 and the rotating and guiding the clamping mechanism; the catheter rotating mechanism 4-1 is connected with the mounting box 5, the mounting box 5 is mounted on the power driving device 1, and the power driving device 1 drives the mounting box 5 to advance or retract so as to drive the clamping assembly 4-2-3 and the guiding catheter to move forwards or backwards together; the clamping assembly 4-2-3 comprises a knob cap 4-2-3-1, a silicon rubber compression block 4-2-3-2, a guide plate 4-2-3-3 and a rotary support shaft 4-2-3-4, as shown in figure 9, the silicon rubber compression block 4-2-3-2 and the guide plate 4-2-3-3 are arranged in the rotary support shaft 4-2-3-4, the rotary support shaft 4-2-3-4 is rotatably connected in the connecting plate 4-2-2, a guide catheter is penetrated in the rotary support shaft 4-2-3-4, the knob cap 4-2-3-1 is rotatably arranged at the end part of the rotary support shaft 4-2-3-1, a notch I is formed in the inner wall of the knob cap 4-2-3-1 along the circumferential direction, a notch II which is matched and connected with the notch I is formed in the outer wall of the end part of the rotary support shaft 4-2-3-4, the silicon rubber compression block 4-2-3-2 is compressed and deformed when the knob cap 4-2-3-1 is unscrewed, so as to wrap the guide catheter and clamp; the knob cap 4-2-3-1 is screwed to the level that the notch I on the knob cap is level with the notch II of the rotary support shaft 4-2-3-4, and the silicon rubber compression block 4-2-3-2 is restored to the original state through self deformation, so that the silicon rubber compression block is separated from the guiding catheter.
According to the invention, the guide wire operation assembly 2, the balloon catheter conveying device 3 and the catheter operation assembly 4 are assembled in the mounting box 5, and then the mounting box 5 is mounted on the power driving device 1, so that quick disassembly and quick assembly are realized. The mounting box 5 is positioned and mounted through a positioning column on the carrying platform 1-1, and the butt joint piece 1-4 on the power driving device 1 is connected with the driving connector 1-8, so that power transmission is realized. In order to improve the operation stability of the mounting box 5, the invention also provides a pressing mechanism 6, wherein the pressing mechanism 6 comprises a limiting plate 6-1, a cam mechanism 6-2, a pressing plate 6-3 and a sliding shaft 6-4, as shown in figure 10; the pressing mechanism inside the mounting box 5 is arranged at one end of the limiting plate 6-1, the other end of the limiting plate 6-1 is connected with a gear, the limiting plate 6-1 rotates around a shaft after being pressed downwards by the pressing mechanism, the other end of the limiting plate is separated from the gear and is meshed with teeth on the cam mechanism 6-2, and the gear on the cam mechanism 6-2 is provided with a switch key and rotates through screwing the switch key. The cam mechanism 6-2 is in contact connection with the upper surface of the pressing plate 6-3, the pressing plate 6-3 is slidably connected to the sliding shafts 6-4 at two sides, and the pressing plate 6-3 is ejected along the sliding shafts 6-4 under the drive of the cam mechanism 6-2 and extends into the mounting box 5 to be tightly attached to the bottom surface of the mounting box; the first spring is arranged at the pressing plate 6-3 and is self-reset through the first spring to be separated from the mounting box 5, the second spring is arranged at the limiting plate 6-1 and is self-reset to the initial position through the second spring to limit the movement of the gear.
When the mounting box is used, the mounting box 5 is placed on the carrying platform 1-1, and the pressing mechanism in the mounting box 5 presses the limiting plate 6-1 downwards, so that the limiting plate 6-1 rotates anticlockwise along the shaft, and the right end of the limiting plate is separated from the gear; at the moment, the limit plate 6-1 is not limited, and the gear can rotate at will; the key is unscrewed clockwise, the gear drives the cam mechanism 6-2 to rotate clockwise, the cam mechanism 6-2 is always contacted with the upper surface of the pressing plate 6-3, the pressing plate 6-3 is ejected along the sliding shafts 6-4 on two sides, the pressing plate 6-3 extends into the mounting box 5 and clings to the bottom surface of the mounting box 5, and safe and stable operation of the mounting box 5 in the use process is ensured; at this time, the movable shaft below the cam mechanism 6-2 triggers the operation switch to send out an "installation in place" instruction to the whole machine. If the mounting box 5 needs to be dismounted, the key is unscrewed anticlockwise, and the gear drives the cam mechanism 6-2 to rotate anticlockwise; the compressing plate 6-3 is self-reset through a spring and is separated from the mounting box 5, at the moment, the mounting box 5 can be freely taken down, the pressing mechanism on the mounting box is not applied to the limiting plate 6-1, the limiting plate 6-1 is self-reset to an initial position through the spring, meanwhile, gear movement is limited, and further movement rotation of the switch key is limited.
The invention is further illustrated below in connection with specific examples:
examples
For the prior art operation of the guide wire, advancing (retracting) and rotating can only be performed separately, but in many clinical scenarios the guide wire needs to be advanced (retracting) while rotating, in order to solve this problem, the present embodiment 1 can realize the advancing (retracting) and rotating of the guide wire simultaneously, see fig. 4. Firstly, a sliding pull rod on a guide wire operation assembly 2 is moved to the leftmost end, a guide wire passes through the guide wire operation assembly 2 from left to right, and then the sliding pull rod is moved to the rightmost end and locked, and at the moment, the guide wire is clamped by the guide wire operation assembly 2; when the main end independently sends a guide wire 'pushing (withdrawing)' instruction, a wire feeding mechanism 2-1 in a guide wire operating assembly 2 drives the guide wire to advance or retreat; when the main end independently sends a guide wire rotating instruction, the wire feeding mechanism 2-1 only clamps the guide wire, and meanwhile, the rotating mechanism 2-2 drives the wire feeding mechanism 2-1 to rotate around a shaft, so that the clamped guide wire is driven to rotate; when the master end sends a guide wire 'pushing (withdrawing)' and 'rotating' instruction to the slave end simultaneously, the wire feeding mechanism 2-1 and the rotating mechanism 2-2 work simultaneously through different power transmission mechanisms, and the operation of the guide wire is completed.
Examples
Aiming at the operation of the guide wire in the prior art, the guide wire is easy to slip during operation and is asynchronous in instruction and operation, and in order to solve the problem, stable conveying of the guide wire can be realized in the embodiment 2. The guide wire passes through the wire feeding mechanism 2-1 and is clamped by two special-shaped rollers, wherein one special-shaped roller I2-1-1 is a cylindrical roller, and the other special-shaped roller II 2-1-2 is a series of small rollers uniformly distributed on the circumference; the guide wire passes through the two special-shaped rollers to be in an arc clamping shape, and compared with the linear clamping in the prior art, the distance of the force arm (L) is increased, as shown in figure 11. If the guide wire clamping position (A) inputs the same transmission force (F), the larger the force arm (L) is, the larger the moment (M) output by the guide wire front end (B) is, the more beneficial to the position with lesions in the blood vessel to pass through without slipping; if the front end (B) of the guide wire outputs the same moment (M), the larger the moment arm (L) is, the smaller the transmission force (F) required by the guide wire clamping position (A) is, and the stable and reliable operation of the mechanism is facilitated.
Examples
Aiming at the requirement of the prior art on the number of guide wires, only a single guide wire can be operated, and double guide wires cannot be operated, in order to solve the problem, the double guide wires can be transported in the embodiment 3. After the first wire is delivered in place as described in example 1, one hand presses the left end thereof and pulls the right end thereof away from the wire feeding mechanism 2-1, at this time, the rotating knob 2-3-3 is pushed clockwise by the hand, the pair of grip rollers 2-3-1 are separated, the wire is placed in the middle, the rotating knob 2-3-3 is released, it is restored to the original position by the elastic force of the spring, and the pair of grip rollers are brought into close contact and grip the wire, see fig. 5. At this time, the second guide wire is sent to the designated position according to the operation described in the embodiment 1, namely, the operation of conveying the two guide wires is realized, and the application of the special clinical scene is solved.
Examples
Aiming at the problem that the balloon (stent) is often slipped or the repeated positioning accuracy is poor in conveying when conveying the balloon (stent) in the prior art, in order to solve the problem, the stable and reliable conveying of the balloon (stent) can be realized in the embodiment 4. The finger rotates the movable mounting plate 3-4 in a counter-clockwise direction, so that the auxiliary driving roller 3-1 is separated from the main driving roller 3-2 and a large gap is left. The balloon (bracket) is placed at the gap between the two rollers, and the finger is far away from the movable mounting plate 3-4, so that the finger drives the auxiliary driving roller 3-1 to rotate clockwise and to approach the main driving roller 3-2, and the finger returns to the initial position, as shown in fig. 6. The driving roller is divided into two parts, wherein the upper part is a magnetic driving part, and the lower part is wrapped by soft rubber and used for clamping the saccule (bracket). The driving connector 1-8 drives the main driving roller 3-2 to rotate around the shaft through a gear, and the main driving roller 3-2 drives the auxiliary driving roller 3-1 to rotate in the opposite direction through the magnetic driving component, so that the balloon (bracket) is driven to advance or withdraw; the two rollers transmit power through magnetism, so that the problem of inconsistent power transmission can be effectively solved compared with the prior art that the power is transmitted through friction force, and the problem of slipping of the saccule (bracket) is further solved.
Examples
Aiming at the operation of the guiding catheter in the prior art, the guiding catheter is bent, deformed, advanced and retracted at first when being conveyed, and the operation judgment of a doctor is obviously and seriously affected by the abnormal operation due to the fact that the operation is asynchronous because of long delay time, in order to solve the problem, the embodiment 5 can realize the advancing and retracting of the guiding catheter within a certain range. Specifically, the mounting box 5 is fixedly arranged on the power driving device 1, the Y-shaped connecting valve and the guiding catheter are connected into a whole through the adapter rotating head, and the cover above the catheter rotating mechanism 4-1 is opened to mount and fix the Y-shaped connecting valve on the catheter rotating mechanism 4-1; closing the cover and relatively fixing the cover with the rotating mechanism 4-1 through a buckle or magnetic attraction; the operation button is pressed to drive the movable rack 4-2-4 to move downwards, so that the movable rack 4-2-4 drives the special-shaped gear to rotate clockwise, the movable compression block 4-2-5 on the gear is separated from the movable support shaft 4-2-1, at the moment, the movable support shaft 4-2-1 can smoothly rotate and move forwards and backwards in a pipeline of the support seat, and meanwhile, the connecting plate 4-2-2 connected with the front end of the movable support shaft 4-2-1 also moves along with the movable support shaft in the same way. The connecting plate 4-2-2 is pulled out to a position which is at a certain distance from the vascular sheath, then the clamping assembly 4-2-3 is rotated to a position which is approximately coaxial with the catheter, the hand is separated from the button, the self-resetting function of the spring drives the button and the movable rack 4-2-4 to move upwards, the movable rack 4-2-4 drives the gear to rotate anticlockwise, the movable compression block 4-2-5 on the gear is tightly attached to the movable supporting shaft 4-2-1, the spring is still in a compressed state, the upward elastic force is transmitted to the movable compression block 4-2-5 through the mutual matching of the gear and the rack, the movable supporting shaft 4-2-1 is compressed, and then the connecting plate 4-2-2 is fixed and cannot move and rotate. The knob cap 4-2-3-1 is screwed anticlockwise, the notch on the knob cap is flush with the notch of the rotary support shaft 4-2-3-4, the guide catheter is placed in the clamping assembly 4-2-3, the knob cap 4-2-3-1 is screwed clockwise, the silicone rubber compression block 4-2-3-2 is compressed and deformed through threaded fit, the guide catheter is wrapped and clamped, and at the moment, the clamping assembly 4-2-3 and the guide catheter are relatively fixed and rotate in the connecting plate 4-2-2 through the rotary support shaft 4-2-3-4.
When an instruction for guiding the catheter to rotate is input, the catheter rotating mechanism 4-1 drives the guiding catheter to rotate, and meanwhile, the clamping assembly 4-2-3 which is relatively fixed with the guiding catheter also rotates relatively in the connecting plate 4-2-2; when the instruction of guiding the catheter to advance is input, the power driving device 1 drives the mounting box 5 to advance, and then drives the clamping assemblies 4-2-3 to move forwards together with the guiding catheter. Similarly, an instruction for guiding the catheter to withdraw is input, and the power driving device 1 drives the mounting box 5 to retract so as to drive the clamping assemblies 4-2-3 and the guiding catheter to move backwards together; meanwhile, the device can also send 'rotation+pushing' or 'rotation+withdrawing' to the guiding catheter simultaneously, so that the guiding catheter can be rotated and simultaneously moved forward or backward, and the operation of a doctor is more truly simulated.
If the catheter conveying mechanism 4-2 is required to be separated from the catheter, the knob cap 4-2-3-1 is only required to be screwed anticlockwise, the notch on the knob cap is flush with the notch of the rotary support shaft 4-2-3-4, and at the moment, the silicone rubber compression block 4-2-3-2 is restored to an initial state through self deformation, and then is separated from the guiding catheter. Pressing the operation button, rotating the connection plate 4-2-2 separates the clamping assembly 4-2-3 from the catheter, and then pulling the connection plate 4-2-2 back to be tightly attached to the installation box 5 and relatively fixed with the installation box. The fixing mode is not limited to the form of a buckle or magnetic attraction.
The details not described in detail in this specification belong to the prior art known to those skilled in the art, all standard parts used by the standard parts can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the drawings, the specific connection modes of all parts adopt conventional means such as mature bolts, rivets and welding in the prior art, the machinery, the parts and the equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection modes in the prior art, which are not described in detail.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent substitutes and are included in the scope of the invention.
Claims (6)
1. A slave end effector for vascular interventional procedures, comprising: the device comprises a power driving device (1), a guide wire operation assembly (2), a balloon catheter conveying device (3), a catheter operation assembly (4) and a mounting box (5), wherein the guide wire operation assembly (2) and the balloon catheter conveying device (3) are assembled in the mounting box (5) and are combined with the mounting box (5) into a whole; the guide wire operation assembly (2) is used for synchronously realizing the advancing, withdrawing and rotating of the guide wire; the balloon catheter conveying device (3) is used for realizing the advancing and withdrawing of the balloon, and the catheter operation assembly (4) is used for realizing the guiding catheter advancing, retreating and rotating; the guide wire operation assembly (2), the balloon catheter conveying device (3), the catheter operation assembly (4) and the mounting box (5) are all mounted on the power driving device (1) and are respectively connected with the power output end of the power driving device (1); the power driving device (1) comprises a platform (1-1), a cylindrical supporting seat (1-2), a bearing (1-3), a butt joint piece (1-4), a power rotating shaft (1-5), a pair of bevel gears (1-6) and an L-shaped supporting seat (1-7); the balloon catheter delivery device comprises a platform (1-1), a guide wire operation assembly (2), a balloon catheter delivery device (3), a catheter operation assembly (4) and a mounting box (5), wherein a positioning column is arranged on the platform (1-1) and used for mounting and positioning the guide wire operation assembly (2), the balloon catheter delivery device (3), the catheter operation assembly (4) and the mounting box (5); the device is characterized in that a driving mechanism is arranged on the L-shaped supporting seat (1-7), an output shaft of the driving mechanism drives a power rotating shaft (1-5) to rotate through a pair of bevel gears (1-6), a bearing (1-3) is arranged on the power rotating shaft (1-5), the bearing (1-3) is arranged in the cylindrical supporting seat (1-2), a butt joint piece (1-4) is arranged at the other end of the power rotating shaft (1-5), the butt joint piece (1-4) is connected with a driving connector (1-8), and the driving connector (1-8) is arranged inside a guide wire operation assembly (2), a balloon catheter conveying device (3), a catheter operation assembly (4) and an installation box (5) in a distributed mode and used for power transmission; the driving connector (1-8) comprises a spring (1-8-1), a sleeve (1-8-2) and a bottom butt connector (1-8-3), wherein the bottom butt connector (1-8-3) is connected with a butt connector (1-4) of the power driving device (1), the bottom butt connector (1-8-3) and the spring (1-8-1) are arranged in the sleeve (1-8-2), the other end of the bottom butt connector (1-8-3) is connected with a guide wire operation assembly (2), a balloon catheter conveying device (3), a catheter operation assembly (4) and a mounting box (5), and power is transmitted to the guide wire operation assembly (2), the balloon catheter conveying device (3), the catheter operation assembly (4) and the mounting box (5); the wire guide operation assembly (2) comprises a wire feeding mechanism (2-1) and a rotating mechanism (2-2), the wire feeding mechanism (2-1) drives a wire guide to advance or retreat, the rotating mechanism (2-2) comprises a conical gear (2-2-1) and a mounting seat (2-2), the conical gear (2-2-1) is mounted on the mounting seat (2-2), the input end of the conical gear (2-2-1) is connected with a power driving device (1) through a driving connector (1-8), and the output end of the conical gear (2-2-1) is connected with the wire feeding mechanism (2-1) and drives the wire feeding mechanism (2-1) to rotate around a shaft so as to drive the wire guide clamped by the wire feeding mechanism (2-1) to rotate; the wire feeding mechanism (2-1) is internally provided with a first special-shaped roller (2-1-1) and a second special-shaped roller (2-1-2), the wire guide penetrates through the wire feeding mechanism (2-1) and is clamped by the first special-shaped roller (2-1-1) and the second special-shaped roller (2-1-2), the first special-shaped roller (2-1-1) is a cylindrical roller, small rollers are uniformly distributed on the circumference of the second special-shaped roller (2-1-2), and the wire guide penetrates through the first special-shaped roller (2-1-1) and the second special-shaped roller (2-1-2) to be in an arc clamping shape.
2. The slave end-effector as defined in claim 1, wherein: the guide wire operation assembly (2) further comprises a clamping and fixing mechanism (2-3), the clamping and fixing mechanism (2-3) comprises a clamping roller (2-3-1), a compression spring II (2-3-2) and a rotary buckle (2-3-3), the clamping roller (2-3-1) is provided with a pair, the clamping roller (2-3-1) is used for clamping a guide wire, the clamping roller (2-3-1) is separated under the stirring of the rotary buckle (2-3-3), and the rotary buckle (2-3-3) is reset through the elastic force of the compression spring II (2-3-2) so that the pair of clamping rollers (2-3-1) cling to and clamp the guide wire.
3. The slave end-effector as defined in claim 1, wherein: the balloon catheter conveying device (3) comprises an auxiliary driving roller (3-1), a main driving roller (3-2), a compression spring (3-3), a rotary moving mounting plate (3-4) and a gear (3-5), wherein the auxiliary driving roller (3-1) is separated from the main driving roller (3-2) under the stirring of the rotary moving mounting plate (3-4) so as to place the balloon at a gap between the auxiliary driving roller (3-1) and the main driving roller (3-2), the compression spring (3-3) is arranged on the auxiliary driving roller (3-1), the auxiliary driving roller (3-1) is reset under the elasticity of the compression spring (3-3), the auxiliary driving roller (3-1) and the main driving roller (3-2) are equally divided into an upper part and a lower part, the upper part is a magnetic driving part, the lower part is wrapped by soft rubber so as to be used for clamping the balloon, the main driving roller (3-2) is connected with a driving connector (1-8) through the gear (3-5), the driving connector (1-8) is connected with a power device, the main driving roller (3-2) is connected with the main driving roller (3-2) in a reverse direction, the main driving roller (3-2) is driven by the rotary driving roller (3-2) to rotate around the main driving roller (3), thereby driving the balloon to advance or withdraw.
4. The slave end-effector as defined in claim 1, wherein: the catheter operation assembly (4) comprises a catheter rotation mechanism (4-1) and a catheter conveying mechanism (4-2), wherein the catheter conveying mechanism (4-2) comprises a movable supporting shaft (4-2-1), a connecting plate (4-2-2), a clamping assembly (4-2-3), a movable rack (4-2-4), a movable compacting block (4-2-5) and a limiting plate (4-2-6); an operation button is arranged on one side of the movable rack (4-2-4), the movable rack (4-2-4) moves downwards by pressing the operation button, a reset spring is arranged on the other side of the movable rack (4-2-4) and moves upwards by the reset spring, the movable rack (4-2-4) is connected with a special-shaped gear in a meshed manner, a movable compression block (4-2-5) is connected to the special-shaped gear, a movable supporting shaft (4-2-1) is arranged between the movable compression block (4-2-5) and a limiting plate (4-2-6), the movable compression block (4-2-5) is separated from or compresses the movable supporting shaft (4-2-1) under the drive of the special-shaped gear, the front end of the movable supporting shaft (4-2-1) is connected with one end of a connecting plate (4-2-2), the other end of the connecting plate (4-2-2) is connected with a clamping assembly (4-2-3), a guiding catheter is clamped in the clamping assembly (4-2-3), the guiding catheter penetrates through a catheter rotating mechanism (4-1), and the guiding catheter rotates in the rotating mechanism (4-2-3) along with the rotating mechanism (4-2-2) in the rotating mechanism; the catheter rotating mechanism (4-1) is connected with the mounting box (5), the mounting box (5) is mounted on the power driving device (1), and the power driving device (1) drives the mounting box (5) to advance or retract, so that the clamping assembly (4-2-3) and the guiding catheter are driven to move forwards or backwards together.
5. The slave end-effector as defined in claim 4, wherein: the clamping assembly (4-2-3) comprises a knob cap (4-2-3-1), a silicone rubber compression block (4-2-3-2), a guide plate (4-2-3-3) and a rotary support shaft (4-2-3-4), wherein the silicone rubber compression block (4-2-3-2) and the guide plate (4-2-3-3) are arranged inside the rotary support shaft (4-2-3-4), the rotary support shaft (4-2-3-4) is rotatably connected in the connecting plate (4-2-2), a guide catheter is penetrated in the rotary support shaft (4-2-3-4), the knob cap (4-2-3-1) is rotatably arranged at the end part of the rotary support shaft (4-2-3-4), a notch I is circumferentially arranged on the inner wall of the knob cap (4-2-3-1), a notch II matched with the notch I is arranged on the outer wall of the end part of the rotary support shaft (4-2-3-4), and the knob cap (4-2-3-4) is compressed and then the knob cap (4-2-3-3) is deformed; when the knob cap (4-2-3-1) is screwed to the level of the notch I on the knob cap and the notch II of the rotary support shaft (4-2-3-4), the silicon rubber compression block (4-2-3-2) is restored to the initial state through self deformation, and then is separated from the guide catheter.
6. The slave end-effector as defined in claim 1, wherein: the pressing mechanism (6) comprises a limiting plate (6-1), a cam mechanism (6-2), a pressing plate (6-3) and a sliding shaft (6-4), wherein the pressing mechanism inside the installation box (5) is arranged at one end of the limiting plate (6-1), the other end of the limiting plate (6-1) is connected with a gear, the limiting plate (6-1) rotates around the shaft after being pressed downwards by the pressing mechanism, the other end of the limiting plate is separated from the gear, the gear is meshed with teeth on the cam mechanism (6-2), a switch key is arranged on the gear on the cam mechanism (6-2) and rotates through screwing the switch key, the cam mechanism (6-2) is connected with the upper surface of the pressing plate (6-3) in a contact manner, the pressing plate (6-3) is slidably connected with the sliding shaft (6-4) at two sides, and the pressing plate (6-3) is ejected out along the sliding shaft (6-4) under the driving of the cam mechanism (6-2) and is tightly attached to the inside the installation box (5); the first spring is arranged at the pressing plate (6-3) and is self-reset through the first spring so as to be separated from the mounting box (5), and the second spring is arranged at the limiting plate (6-1) and is self-reset to the initial position through the second spring so as to limit the movement of the gear.
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| CN202310650198.7A CN116570378B (en) | 2023-06-02 | 2023-06-02 | Slave end operating device for vascular intervention operation |
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